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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Miniaturized silicon-based capacitive six-axis force/torque sensor with large range, high sensitivity, and low crosstalk

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Microsystems & Nanoengineering 2024年第6期10卷 133-149页

作者： Renjie Tan Yong Xia Xiangguang Han Linya Huang Wendi Gao Chen Jia Ping Yang Qijing Lin Shujiang Ding Chenying Wang Libo Zhao State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemXi’an Jiaotong University710049 Xi’anChina School of Mechanical Engineering Xi’an Jiaotong UniversityXi’an 710049China School of Instrument Science and Technology Xi’an Jiaotong UniversityXi’an 710049China Electronic Materials Research Laboratory Key Laboratory of the Ministry of EducationSchool of Electronic Science and EngineeringXi’an Jiaotong University710049 Xi’anChina Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Engineering Research Center of Energy Storage Materials and Devices of Ministry of Education National Innovation Platform(Center)for Industry-Education Integration of Energy Storage TechnologySchool of ChemistryXi’an Jiaotong UniversityXi’an 710049China

Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet the requirements because of their large *** this study,a silicon-based capacitive six-axis force/torque sensing chip with a small size of 9.3×9.3×0.98 mm was designed,fabricated,and tested.A sandwich decoupling structure with a symmetrical layered arrangement of S-shaped beams,comb capacitors,and parallel capacitors was employed.A decoupling theory considering eccentricity and nonlinear effects was derived to realize low axial *** proposed S-shaped beams achieved a large measurement range through stress *** results of a coupled multiphysics field finite-element simulation agreed well with those of theoretical *** test results show that the proposed sensing chip can detect six-axis force/torque separately,with all crosstalk errors less than 2.59%*** force and torque measurement ranges can reach as much as 2.5 N and 12.5 N·mm,*** sensing chip also has high sensitivities of 0.52 pF/N and 0.27 pF/(N·mm)for force and torque detection,respectively.

关键词： crosstalk shaped torque

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research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press

Research on Robot Path Planning Algorithm for Filter Plate C...

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Artificial Intelligence and intelligent Manufacturing (AIIM), International Symposium on

作者： Jie Xu Long Cui Yongguo Zhao Xincheng Tian Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Academy of Sciences Institute of Automation Qilu University of Technology Jinan China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value.

关键词： Presses Visualization Impurities Image processing Filtering algorithms Information filters Cleaning Path planning Manufacturing Robots

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Nonlinear impulsive control for stability of dynamical systems

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Automatica 2025年 178卷

作者： Li, Xiaodi Xing, Ying Song, Shiji School of Mathematics and Statistics Shandong Normal University Jinan250014 China Shandong Engineering Research Center of System Control and Intelligent Technology Shandong Normal University Jinan250358 China Department of Automation Tsinghua University Beijing100084 China

This paper studies the stability problems for dynamical systems via nonlinear impulsive control, where the nonlinearity of the impulses is fully considered. We provide a set of Lyapunov-based sufficient conditions for local asymptotic stability (LAS) and the estimation of the domain of attraction, where a relationship among nonlinearity, the system structure, and impulse time sequences is established. To show the effects of nonlinearity on system performance, a novel finite-time contractive stability (FTCS) concept that characterizes the boundedness and finite-time contractive property of the system on the infinite domain is introduced. It shows that the nonlinearity is conducive to the stability of the system under certain conditions. Moreover, it can lead to a faster convergence speed compared to the linear case. Finally, two illustrative examples are given to verify the validity of the theoretical results. © 2025 Elsevier Ltd

关键词： Asymptotic stability

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Impulsive control of Heterogeneous Multi-agent systems with Saturation Constraint and Time Delay

Impulsive Control of Heterogeneous Multi-agent Systems with ...

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2024 China Automation Congress, CAC 2024

作者： Jiao, Ranran Li, Bo Chen, Xiangyong Jiang, Xiaowei School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China

ISBN: (纸本)9798350368604

This paper addresses the problem of leader-following consensus in heterogeneous multi-agent systems (HMAS) with input saturation and communication delay. Given the practical differences between leader and follower dimensions, we design virtual leaders to address this problem by allowing actual leaders and followers to communicate with virtual leaders separately, thus enabling indirect communication between actual leaders and followers. Additionally, the control protocol proposed in this paper takes into account the effects of input saturation and time delay that exist in real communication. At last, a simulation example is presented to demonstrate the effectiveness of the designed control protocol. © 2024 IEEE.

关键词： Multi agent systems

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H-STEP: Heuristic Stable Edge Service Entity Placement for Mobile Virtual Reality systems

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IEEE Transactions on Mobile Computing 2025年

作者： Chi, Xuejian Chen, Honglong Ni, Zhichen Sun, Haiyang Sun, Peng Yu, Dongxiao Shandong Provincial Engineering Research Center of Intelligent Sensing and Measurement and Control Technology College of Control Science and Engineering Qingdao266580 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China Shandong University School of Computer Science and Technology Qingdao266237 China

Virtual reality (VR) technology, as a latency-sensitive application, can achieve real-time response to enhance the user's quality of experience (QoE) on edge devices. However, edge servers, unlike internally managed cloud servers, are prone to hardware failures, software abnormalities, and network attacks. Most prior studies have focused on reducing service delay and improving user coverage through service entity (SE) placement, often neglecting the critical impact of edge server malfunctions on user QoE. In this work, we design a stable service entity placement framework that connects users on faulty servers to collaborative edge servers, ensuring seamless task completion. This framework presents two primary challenges: determining the grouping of collaborative edge services and the placement of SEs. To address these challenges, we introduce a heuristic stable service entity placement (H-STEP) scheme. This scheme first determines the grouping of collaborative edge servers using an iterative search algorithm and then places SEs on suitable edge servers via a fast non-dominated sorting genetic placement algorithm. This approach balances stability benefits with total cost, enhancing the system's economic benefits. We theoretically analyze the performance of H-STEP and derive the performance gap between H-STEP and the optimal scheme. Extensive real-data-driven simulations demonstrate that H-STEP's performance closely approximates that of the optimal scheme and surpasses existing schemes. © 2002-2012 IEEE.

关键词： Virtual environments

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Facile assembly of flexible,stretchable and attachable symmetric microsupercapacitors with wide working voltage windows and favorable durability

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Microsystems & Nanoengineering 2024年第4期10卷 297-304页

作者： Xiangguang Han Xiaoyu Wu Libo Zhao Min Li Chen Jia Zhikang Li Jiaqi Xie Guoxi Luo Ping Yang Rabah Boukherroub Yurdanur Türker Mert UmutÖzkaynak Koray Bahadır Dönmez State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemXi’an Jiaotong UniversityXi’an 710049China School of Instrument Science and Technology Xi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai Yantai 264000China School of Mechanical Engineering Xi’an Jiaotong UniversityXi’anShaanxi 710049China Chongqing Key Laboratory of Micro-Nano Systems and Intelligent Sensing Chongqing Academician WorkstationChongqing 2011 Collaborative Innovation Center of Micro/Nano Sensing and Intelligent Ecological Internet of ThingsChongqing Technology and Business UniversityNan’an DistrictChongqing 400067China Univ.Lille CNRSUniv.Polytechnique Hauts-de-FranceUMR 8520-IEMNF-59000 LilleFrance Sabanci University Nanotechnology Research and Application Center(SUNUM) IstanbulTurkey Department of Materials Science and Engineering Istanbul Technical UniversityIstanbulTurkey

With the increasing development of intelligent robots and wearable electronics,the demand for high-performance flexible energy storage devices is drastically *** this study,flexible symmetric microsupercapacitors(MSCs)that could operate in a wide working voltage window were developed by combining laser-direct-writing graphene(LG)electrodes with a phosphoric acid-nonionic surfactant liquid crystal(PA-NI LC)gel *** increase the flexibility and enhance the conformal ability of the MSC devices to anisotropic surfaces,after the interdigitated LG formed on the polyimide(PI)film surface,the devices were further transferred onto a flexible,stretchable and transparent polydimethylsiloxane(PDMS)substrate;this substrate displayed favorable flexibility and mechanical characteristics in the bending ***,the electrochemical performances of the symmetric MSCs with various electrode widths(300,400,500 and 600μm)were *** findings revealed that symmetric MSC devices could operate in a large voltage range(0–1.5 V);additionally,the device with a 300μm electrode width(MSC-300)exhibited the largest areal capacitance of 2.3 mF cm^(−2)at 0.07 mA cm^(−2)and an areal(volumetric)energy density of 0.72μWh cm−2(0.36 mWh cm^(−3))at 55.07μWcm−2(27.54mWcm−3),along with favorable mechanical and cycling *** charging for~20 s,two MSC-300 devices connected in series could supply energy to a calculator to operate for~130 s,showing its practical application potential as an energy storage ***,the device displayed favorable reversibility,stability and *** 12 months of aging in air at room temperature,its electrochemical performance was not altered,and after charging-discharging measurements for 5000 cycles at 0.07 mA cm^(−2),~93.6%of the areal capacitance was still retained;these results demonstrated its practical long-term application potential as an energy storage device.

关键词： cycling durability electrode

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Inter-object Discriminative Graph Modeling for Indoor Scene Recognition

arXiv

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arXiv 2023年

作者： Song, Chuanxin Wu, Hanbo Ma, Xin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education China

Variable scene layouts and coexisting objects across scenes make indoor scene recognition still a challenging task. Leveraging object information within scenes to enhance the distinguishability of feature representations has emerged as a key approach in this domain. Currently, most object-assisted methods use a separate branch to process object information, combining object and scene features heuristically. However, few of them pay attention to interpretably handle the hidden discriminative knowledge within object information. In this paper, we propose to leverage discriminative object knowledge to enhance scene feature representations. Initially, we capture the object-scene discriminative relationships from a probabilistic perspective, which are transformed into an Inter-Object Discriminative Prototype (IODP). Given the abundant prior knowledge from IODP, we subsequently construct a Discriminative Graph Network (DGN), in which pixel-level scene features are defined as nodes and the discriminative relationships between node features are encoded as edges. DGN aims to incorporate inter-object discriminative knowledge into the image representation through graph convolution and mapping operations (GCN). With the proposed IODP and DGN, we obtain state-of-the-art results on several widely used scene datasets, demonstrating the effectiveness of the proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Graph neural networks

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Semantic-embedded Similarity Prototype for Scene Recognition

arXiv

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arXiv 2023年

作者： Song, Chuanxin Wu, Hanbo Ma, Xin Li, Yibin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education China

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting challenge emerges as object information extraction techniques require heavy computational costs, thereby burdening the network considerably. This limitation often renders object-assisted approaches incompatible with edge devices in practical deployment. In contrast, this paper proposes a semantic knowledge-based similarity prototype, which can help the scene recognition network achieve superior accuracy without increasing the computational cost in practice. It is simple and can be plug-and-played into existing pipelines. More specifically, a statistical strategy is introduced to depict semantic knowledge in scenes as class-level semantic representations. These representations are used to explore correlations between scene classes, ultimately constructing a similarity prototype. Furthermore, we propose to leverage the similarity prototype to support network training from the perspective of Gradient Label Softening and Batch-level Contrastive Loss, respectively. Comprehensive evaluations on multiple benchmarks show that our similarity prototype enhances the performance of existing networks, all while avoiding any additional computational burden in practical deployments. Code and the statistical similarity prototype will be available at https://***/ChuanxinSong/SimilarityPrototype. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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C2FNet: Coarse-to-Fine Keypoint Localization Network for Monocular 6D Object Pose Estimation

C2FNet: Coarse-to-Fine Keypoint Localization Network for Mon...

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Chinese Automation Congress (CAC)

作者： Jiahao Sun Xin Ma Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China

Estimating the 6D object pose from a singular RGB image is a fundamental task in the field of computer vision. Recent studies have demonstrated that keypoint-based methods exhibit remarkable efficacy. Such methodologies initially identify keypoints and subsequently deduce the object”s pose by addressing a Perspective-n-Point (PnP) problem. Nonetheless., the prevalent approach of directly regressing the 2D coordinates of keypoints renders these methods sensitive to occlusions. Instead., we inaugurate a coarse-to-fine keypoint localization network (C2FNet)., where we utilize the predicted keypoint offsets from the first stage as input to deformable convolutional networks (DCN) in the second stage., to further capture geometric features and enhance spatial relationships between keypoints., thus outputting accurate and robust keypoint coordinates. Experiments indicate that the proposed approach surpasses existing advanced methods in terms of performance on the LINEMOD and Occlusion LINEMOD datasets.

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